MYNT-EYE-S-SDK/samples/uvc/camera.cc

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
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#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <chrono>
#include <condition_variable>
#include <iomanip>
#include <iostream>
#include <mutex>
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#include "mynteye/logger.h"
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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#include "uvc/uvc.h"
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struct frame {
const void *data = nullptr;
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std::function<void()> continuation = nullptr;
frame() {
// VLOG(2) << __func__;
}
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~frame() {
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// VLOG(2) << __func__;
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data = nullptr;
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if (continuation) {
continuation();
continuation = nullptr;
}
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}
};
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MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
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std::vector<std::shared_ptr<uvc::device>> mynteye_devices;
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auto context = uvc::create_context();
auto devices = uvc::query_devices(context);
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if (devices.size() <= 0) {
LOG(ERROR) << "No devices :(";
return 1;
}
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for (auto &&device : devices) {
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auto vid = uvc::get_vendor_id(*device);
// auto pid = uvc::get_product_id(*device);
// LOG(INFO) << "vid: " << vid << ", pid: " << pid;
if (vid == MYNTEYE_VID) {
mynteye_devices.push_back(device);
}
}
// std::string dashes(80, '-');
size_t n = mynteye_devices.size();
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if (n <= 0) {
LOG(ERROR) << "No MYNT EYE devices :(";
return 1;
}
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LOG(INFO) << "MYNT EYE devices: ";
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for (size_t i = 0; i < n; i++) {
auto device = mynteye_devices[i];
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auto name = uvc::get_video_name(*device);
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auto vid = uvc::get_vendor_id(*device);
auto pid = uvc::get_product_id(*device);
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LOG(INFO) << " index: " << i << ", name: " << name << ", vid: 0x"
<< std::hex << vid << ", pid: 0x" << std::hex << pid;
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}
std::shared_ptr<uvc::device> device = nullptr;
if (n <= 1) {
device = mynteye_devices[0];
LOG(INFO) << "Only one MYNT EYE device, select index: 0";
} else {
while (true) {
size_t i;
LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
std::cin >> i;
if (i >= n) {
LOG(WARNING) << "Index out of range :(";
continue;
}
device = mynteye_devices[i];
break;
}
}
std::mutex mtx;
std::condition_variable cv;
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std::shared_ptr<frame> frame = nullptr;
const auto frame_ready = [&frame]() { return frame != nullptr; };
const auto frame_empty = [&frame]() { return frame == nullptr; };
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uvc::set_device_mode(
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*device, 752, 480, static_cast<int>(Format::YUYV), 25,
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[&mtx, &cv, &frame, &frame_ready](
const void *data, std::function<void()> continuation) {
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// reinterpret_cast<const std::uint8_t *>(data);
std::unique_lock<std::mutex> lock(mtx);
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if (frame == nullptr) {
frame = std::make_shared<struct frame>();
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} else {
if (frame->continuation) {
frame->continuation();
}
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}
frame->data = data; // not copy here
frame->continuation = continuation;
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if (frame_ready())
cv.notify_one();
});
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LOG(INFO) << "Press ESC/Q on windows to terminate";
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cv::namedWindow("frame");
uvc::start_streaming(*device, 0);
double t, fps = 0;
while (true) {
t = static_cast<double>(cv::getTickCount());
std::unique_lock<std::mutex> lock(mtx);
if (frame_empty()) {
if (!cv.wait_for(lock, std::chrono::seconds(2), frame_ready))
throw std::runtime_error("Timeout waiting for frame.");
}
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// only lastest frame is valid
cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
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cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
cv::imshow("frame", img);
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frame = nullptr;
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char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
t = static_cast<double>(cv::getTickCount() - t);
fps = cv::getTickFrequency() / t;
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}
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UNUSED(fps)
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uvc::stop_streaming(*device);
// cv::destroyAllWindows();
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return 0;
}